The answer to the question in the title is emphatic no in higher dimensions. In dimension $3$ nilmanifolds (that are not tori) are indeed quotients of the Heisenberg group.
There are lots of nilmanifolds in each dimension $>2$, in fact nilpotent Lie algebras are not classified (and probably not classifiable as there are too many of them with no apparent structure), and as long as all structure constants of the Lie algebra are rational the corresponding Lie group has a torsion free lattice, whose quotient is a nilmanifold.
Topologically nilmanifolds are precisely the iterated principal circle bundles, e.g. in dimension $3$ any principal circle bundle over a $2$-torus is a nilmanifold. Such circle bundles are classified by the Euler number which can take any value in $\mathbb Z$, so there are countably many $3$-dimensional nilmanifolds. In dimensions $1$ and $2$ the only nilmanifolds are tori.
